// Author of FLOAM: Wang Han 
// Email wh200720041@gmail.com
// Homepage https://wanghan.pro
#ifndef _LIDAR_H_
#define _LIDAR_H_

//define lidar parameter

namespace lidar {

class Lidar {
 public:
  Lidar();

  void setScanPeriod(double scan_period_in);
  void setLines(double num_lines_in);
  void setVerticalAngle(double vertical_angle_in);
  void setVerticalResolution(double vertical_angle_resolution_in);
  //by default is 100. pls do not change
  void setMaxDistance(double max_distance_in);
  void setMinDistance(double min_distance_in);

  double max_distance;
  double min_distance;
  int num_lines;
  double scan_period;
  int points_per_line;
  double horizontal_angle_resolution;
  double horizontal_angle;
  double vertical_angle_resolution;
  double vertical_angle;
};

}

#endif // _LIDAR_H_

